We have carried out a systematic crossed molecular beam study of the hydrogen exchange reaction in the H+D-2 --> HD+D isotopic form at two collision energies: 0.53 and 1.28 eV. The Rydberg atom time-of-flight method was used to measure the D-atom product angle-velocity distribution. For the first time re-vibrational quantum state resolved differential cross sections for the title reaction were measured, which can directly be compared to theoretical predictions at this detailed level. Experimental results are compared to theoretical predictions from both quasi classical and quantum mechanical calculations on different potential energy surfaces as well as to earlier experiments. A general good agreement is found for the converged quantum mechanical calculations with indications that the Boothroyd-Keogh-Martin-Peterson potential energy surface is better suited to describe the dynamics of the reaction. For the higher collision energy the quasi classical trajectory calculations reproduce the experimental data quite well, whereas they fail to describe the situation at the lower collision energy especially with respect to angular resolved differential cross sections. (C) 1997 American Institute of Physics.